检索结果-内蒙古大学图书馆

Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance

引用

AIP Conference Proceedings 2015年第1期1660卷

作者： Mohd Shahrieel Mohd Aras Shahrum Shah Abdullah Muhammad Nizam Kamarudin Ahmad Fadzli Nizam Abdul Rahman Fadilah Abd Azis Hazriq Izzuan Jaafar Department of Mechatronics Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Electric and Electronics Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia International Campus Jalan Semarak 54100 Kuala Lumpur Malaysia Department of Control and Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Faculty of Information Technology and Computer Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia

This paper describes the effectiveness of observer-based output feedback for Unmanned Underwater Vehicle (UUV) with Linear Quadratic Regulation (LQR) performance. Tuning of observer parameters is crucial for tracking purpose. Prior to tuning facility, the ranges of observer and LQR parameters are obtained via system output cum error. The validation of this technique using unmanned underwater vehicles called Remotely Operated Vehicle (ROV) modelling helps to improve steady state performance of system response. The ROV modeling is focused for depth control using ROV 1 developed by the Underwater technology Research Group (UTeRG). The results are showing that this technique improves steady state performances in term of overshoot and settling time of the system response.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Preface

引用

Journal of Applied Research and technology 2015年第2期13卷 169-169页

作者： Yau, Her-Terng Ogorzalek, Maciej J. Sandnes, Frode Eika Lee, Cheng Siong Li, Yunhua Department of Electrical Engineering National Chin-Yi University of Technology Taichung City Taiwan Department of Information Technologies Jagiellonian University Krakow Poland College of Applied Sciences Oslo and Akershus University Oslo Norway Faculty of IT Clayton School of Informat Ion Technology Monash University Australia School of Automation Science and Electrical Engineering BeiHang University Beijing China

来源：评论

学校读者我要写书评

暂无评论

Model predictive control of multi-robot formation based on the simplified dual neural network

Model predictive control of multi-robot formation based on t...

引用

International Joint Conference on Neural Networks (IJCNN)

作者： Xinzhe Wang Zheng Yan Jun Wang Faculty of Electronic Information and Electrical Engineering Dalian University of Technology Liaoning China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Shatin New Territories Hong Kong

ISBN: (纸本)9781479914821

This paper is concerned with formation control problems of multi-robot systems in framework of model predictive control. The formation control of robots herein is based on the leader-follower scheme. The followers are controlled by torques to track the desired trajectories to form and keep a formation. A model predictive control approach is proposed for solving the formation control problem, where the control problem is formulated as a dynamic quadratic optimization problem. A one-layer recurrent neural network called the simplified dual network is applied for computing the optimal control input in real time. Simulation results substantiate that the formation of robots can be well controlled by the proposed approach.

关键词： Vectors Lead Wheels Neural networks Robot kinematics Mathematical model

来源：评论

学校读者我要写书评

暂无评论

Model-Free Observer for MIMO systems

Model-Free Observer for MIMO systems

引用

Conference on control Applications

作者： Younes A1 Younes Hassan Noura Abdelhamid Rabhi Ahmed El Hajjaji Mechanical Engineering Faculty at Higher Colleges of Technology Al Ain UAE and PhD student at the University of Picardie Jules Verne Amiens France PhD is Professor and Chairman of Electrical Engineering Department at United Arab Emirates University Al Ain UAE PhD is Assistant Professor in Modeling Information & System Lab - Control & Vehicle Group- at University of Picardie Amiens France PhD is Professor in Modeling Information & System Lab - Control & Vehicle Group- at University of Picardie Amiens France

ISBN: (纸本)9781479977970

In this paper, a novel observer design is introduced to estimate the outputs of a Multi-Input-Multi-Output (MIMO) system. From the synthesis of state observer and Model-Free technique, the Model-Free Observer (MFO) is proposed to compensate for the un-modeled dynamics, modeling errors, and the system uncertainties. The developed output estimation technique using MFO is validated using real flights of a quadrotor UAV. Two flight-test missions are conducted to validate the proposed observer performance, in the fault free case as well as in the presence of actuator faults.

关键词： MFO proposed actuator faults

来源：评论

学校读者我要写书评

暂无评论

Robust sliding mode control design for a dual-stage actuator system

Robust sliding mode control design for a dual-stage actuator...

引用

International Conference on Modelling, Identification and control (ICMIC)

作者： Jinchuan Zheng Fei Siang Tay Renquan Lu Jinfeng Gao Xinlong Zhao the School of Software and Electrical Engineering Swinburne University of Technology Hawthorn Australia Faculty of Engineering Swinburne University of Technology Malaysia the Institute of Information and Control Hangzhou Dianzi University Hangzhou China Institute of Automation Zhejiang Sci-Tech University Hangzhou China

ISBN: (纸本)9781479951055

To improve the positioning accuracy of servomechanisms with one single actuator only, the dual-stage actuator (DSA) systems have been proposed and widely used for industrial applications for the benefits of both large working range, high positioning accuracy and fast response. However, it is common that servomechanisms suffer from plant uncertainties and external disturbances which will affect the positioning accuracy. As such, this paper studies a robust control method called fast non-singular terminal sliding mode (FNTSM) control for a class of DSA systems. Compared with conventional sliding mode control, the FNTSM control can guarantee a faster convergence rate of the tracking error in the presence of system uncertainties including payload variations and external disturbances. Furthermore, it has the inherent feature of chattering-free in the control input. We also discuss the selection criteria of the controller parameters and then the FNTSM control method is applied to design the two control inputs of the DSA system. Simulations are studied to verify that the FNTSM controller can offer robust performance with respect to the mass variations and disturbance. Tracking performance achieved by conventional linear controllers is also presented for comparison.

关键词： Actuators control design Robustness Accuracy Uncertainty Australia Mathematical model

来源：评论

学校读者我要写书评

暂无评论

High gain observer for embedded Acrobot

引用

IFAC Proceedings Volumes 2014年第3期47卷 2818-2823页

作者： Milan Anderle Sergej Čelikovský Czech Technical University in Prague Faculty of Electrical Engineering Department of Control Engineering Technická 2 166 27 Prague Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 182 08 Prague Czech Republic

Underactuated mechanical systems are systems with less actuators than degrees of freedom. Therefore, it is complicated to measure all states, i.e. angular positions or angular velocities, of the mechanical system. Alternative solution consists in an observer design such that unmeasurable states are estimated. For this purpose, a high gain observer for an Acrobot was introduced. By virtue of an Acrobot embedding into a 4-link model, the high gain observer was simply extended and applied to the 4-link model. The main aim of this paper consists in a coupling of a method of the Acrobot embedding into the 4-link model and the high gain observer design for the Acrobot. The coupling results in an observer for the 4-link model with the same structure as the already developed high gain observer for the Acrobot model. The control of the 4-link model using the embedding method is based on a definition of constraining functions for knees control whereas the remaining angle in the hip is controlled in the same way as it would be an Acrobot's angle. The ability of feedback tracking of the walking-like trajectory of the 4-link with observed geometry during a swing phase of a single step is demonstrated in simulations.

关键词： Underactuated mechanical systems Embedding High gain observer

来源：评论

学校读者我要写书评

暂无评论

Analysis of movement for unmanned underwater vehicle using a low cost integrated sensor

引用

AIP Conference Proceedings 2015年第1期1660卷

作者： Mohd Shahrieel Mohd Aras Shahrum Shah Abdullah Ahmad Fadzli Nizam Abdul Rahman Mohd Farriz Basar Anuar Mohamed Kassim Hazriq Izzuan Jaafar Department of Mechatronics Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Electric and Electronics Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia International Campus Jalan Semarak 54100 Kuala Lumpur Malaysia Faculty of Information Technology and Communication Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Electric and Electronics Faculty of Technology Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Control and Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia

This paper presents the development of low cost integrated Smart Sensor for Unmanned Underwater Vehicle (UUV) namely as underwater Remotely Operated Vehicle (ROV). In the underwater industries, the most crucial issues are the sensors that are needed for the underwater task. The sensors that are utilized in this area are quite expensive and sensitive. Every sensors used in the underwater vehicle are not in the form of integrated sensors and most of them based on case to case basis. However, nowadays, a lot of industries are involved in the development of the integrated sensor in order to reduce the production cost as well as to increase accuracies, efficiencies and productivities. Therefore, this research proposes an integrated sensor to be applied in the underwater operations. The integrated sensor is designed based on three goal performances which are; the accuracies; the sensitivities and the cost efficiencies. This integrated sensor is the combination of pressure sensor, inertial measurement unit (IMU), digital compass and temperature sensor that are placed in a waterproof casing. This integrated sensor is targeted to be used to control the movement of ROV to maintain its position called station keeping. The purpose of the station keeping is to ensure the ROV to remain stationary at the desired depth by utilizing the pressure sensor. The experimental studies have been carried out in order to see the responses of each sensor.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Online multiple instance regression

引用

Chinese Physics B 2013年第9期22卷 656-661页

作者：王志岗赵增顺张长水 Department of Automation Tsinghua UniversityState Key Laboratory of Intelligent Technologie and SystemsTsinghua National Laboratory for Information Science and Technology College of Information and Electrical Engineering Shandong University of Science and Technology School of Control Science and Engineering Shandong University

The multiple instance regression problem has become a hot research topic recently. There are several approaches to the multiple instance regression problem, such as Salience, Citation KNN, and MI-ClusterRegress. All of these solutions work in batch mode during the training step. However, in practice, examples usually arrive in sequence. Therefore, the training step cannot be accomplished once. In this paper, an online multiple instance regression method ＂OnlineMIR＂ is proposed. OnlineMIR can not only predict the label of a new bag, but also update the current regression model with the latest arrived bag. The experimental results show that OnlineMIR achieves good performances on both synthetic and real data sets.

关键词： mutiple instance regression online learning

来源：评论

学校读者我要写书评

暂无评论

A Framework for the Nonlinear control of Dual-Stage Systems

引用

IFAC Proceedings Volumes 2014年第3期47卷 1140-1145页

作者： Aurélio T. Salton Jeferson V. Flores João M. Gomes da Silva Jinchuan Zheng Zhiyong Chen Group of Automation and Control Systems (GACS) Pontifícia Universidade Católica do Rio Grande do Sul Brazil Department of Electrical Engineering Universidade Federal do Rio Grande do Sul Brazil Faculty of Engineering and Industrial Sciences Swinburne University of Technology Australia School of Electrical Engineering and Computer Science The University of Newcastle Australia

This paper presents a framework for the nonlinear control of dual-stage actuators (DSA). Motivated by various nonlinear controllers that make use of sector bounded and £ ∞ nonlinearities for the control of saturated linear systems, a methodology for integrating such nonlinear functions in order to improve the performance of DSA is presented. The stability of the closed-loop system is assessed by casting the nonlinearities in a mixed sector-bounded plus quasi-Linear Parameter Varying (LPV) framework, leading to a set of linear matrix inequalities (LMIs) to be satisfied by the controller parameters. Taking advantage of the developed framework, a new £ ∞ function is proposed to avoid the saturation of the secondary actuator. Simulation results illustrate the validity of the proposed framework and its potential for the performance improvement of DSA.

关键词： DSA Nonlinear Feedback Time-Optimal Performance Macro-Micro Manipulator

来源：评论

学校读者我要写书评

暂无评论

Trajectory tracking of two wheeled mobile robot using higher order sliding mode control

Trajectory tracking of two wheeled mobile robot using higher...

引用

2013 1st IEEE International Conference on control, Computing, Communication and Materials, ICCCCM 2013

作者： Aithal, Himajit Janardhanan, S. Control and Automation Electrical Engineering Department Indian Institute of Technology Delhi India Faculty of Control and Automation Electrical Engineering Department Indian Institute of Technology Delhi India

This paper presents a robust control method for trajectory tracking of a two wheeled mobile robot. A second order sliding mode control methodology is used to ensure continuity in the torque inputs, in addition to dist... 详细信息

ISBN: (纸本)9781479913756

关键词： Disturbance rejection

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：